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<a href="#groups">Modules</a>  </div>
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<div class="title">ARDUPILOT<div class="ingroups"><a class="el" href="group__APPLICATIONS.html">APPLICATIONS</a></div></div>  </div>
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<p>An application to interface cFS with an ardupilot autopilot system.  
<a href="#details">More...</a></p>
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Collaboration diagram for ARDUPILOT:</div>
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<center><table><tr><td><img src="group__ARDUPILOT.png" border="0" alt="" usemap="#group____ARDUPILOT"/>
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<area shape="rect" id="node4" href="group__ARDUPILOT__MESSAGE__TOPICS.html" title="Message topics definitions for ardupilot messages. " alt="" coords="320,56,549,83"/>
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Modules</h2></td></tr>
<tr class="memitem:group__ARDUPILOT__MESSAGES"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__ARDUPILOT__MESSAGES.html">ARDUPILOT_MESSAGES</a></td></tr>
<tr class="memdesc:group__ARDUPILOT__MESSAGES"><td class="mdescLeft">&#160;</td><td class="mdescRight">Messages generated by the ardupilot application. <br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:group__ARDUPILOT__MESSAGE__TOPICS"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__ARDUPILOT__MESSAGE__TOPICS.html">ARDUPILOT_MESSAGE_TOPICS</a></td></tr>
<tr class="memdesc:group__ARDUPILOT__MESSAGE__TOPICS"><td class="mdescLeft">&#160;</td><td class="mdescRight">Message topics definitions for ardupilot messages. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<p>An application to interface cFS with an ardupilot autopilot system. </p>
<p>This application opens two ports, one port connects to the autopilot and the other connects to the ground station. The properties of these ports are defined in the input table. Mavlink packets received from the autopilot are redirected to the ground station and vice versa. Additionally, required information from incoming mavlink messages are extracted and published on to the cFS software bus so that other cFS applications can make use of them. Furthermore, this application also subscribes for commands to the autopilot issued by other cFS applications and converts them to appropriate mavlink messages and sends them to the autopilot. In addition to the autopilot's telemetry that is being piped to the ground station, some Icarous related data (encoded as mavlink messages) is also sent to the ground station. Reading data from the autopilot and groundstation are each on separate threads. The rate at which each thread executes is controlled by the cFS scheduler.</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="group__ARDUPILOT__MESSAGES.html" title="Messages generated by the ardupilot application. ">ARDUPILOT_MESSAGES</a>, <a class="el" href="group__ARDUPILOT__MESSAGE__TOPICS.html" title="Message topics definitions for ardupilot messages. ">ARDUPILOT_MESSAGE_TOPICS</a>, <a class="el" href="group__ARDUPILOT__TABLES.html">ARDUPILOT_TABLES</a> </dd></dl>
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